fix(map_loader): change error handling when pcd_metadata file not found (#6227)

SakodaShintaro · web-flow · commit 25bc636fe0f7 · 2024-01-30T11:20:44.000Z
Changed error handling when pcd_metadata file not found

Signed-off-by: Shintaro Sakoda &lt;shintaro.sakoda@tier4.jp&gt;
diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
@@ -90,8 +90,9 @@ std::map<std::string, PCDFileMetadata> PointCloudMapLoaderNode::getPCDMetadata(
 {
   std::map<std::string, PCDFileMetadata> pcd_metadata_dict;
   if (pcd_paths.size() != 1) {
-    if (!fs::exists(pcd_metadata_path)) {
-      throw std::runtime_error("PCD metadata file not found: " + pcd_metadata_path);
+    while (!fs::exists(pcd_metadata_path)) {
+      RCLCPP_ERROR_STREAM(get_logger(), "PCD metadata file not found: " << pcd_metadata_path);
+      std::this_thread::sleep_for(std::chrono::seconds(1));
     }
 
     pcd_metadata_dict = loadPCDMetadata(pcd_metadata_path);

Original file line number	Diff line number	Diff line change
`@@ -90,8 +90,9 @@ std::map<std::string, PCDFileMetadata> PointCloudMapLoaderNode::getPCDMetadata(`
`90`	`90`	`{`
`91`	`91`	`std::map<std::string, PCDFileMetadata> pcd_metadata_dict;`
`92`	`92`	`if (pcd_paths.size() != 1) {`
`93`		`- if (!fs::exists(pcd_metadata_path)) {`
`94`		`- throw std::runtime_error("PCD metadata file not found: " + pcd_metadata_path);`
	`93`	`+ while (!fs::exists(pcd_metadata_path)) {`
	`94`	`+ RCLCPP_ERROR_STREAM(get_logger(), "PCD metadata file not found: " << pcd_metadata_path);`
	`95`	`+ std::this_thread::sleep_for(std::chrono::seconds(1));`
`95`	`96`	`}`
`96`	`97`
`97`	`98`	`pcd_metadata_dict = loadPCDMetadata(pcd_metadata_path);`